import cv2
from mujoco_py import load_model_from_path, MjSim, MjViewer, MjRenderContextOffscreen

model = load_model_from_path("jointExample.xml")
sim = MjSim(model)
viewer = MjViewer(sim)
i = 0
while True:
    sim.step()
    viewer.render()
    i += 1